EP 4051466 A1 20220907 - ROBOTIC JOINT CONTROL
Title (en)
ROBOTIC JOINT CONTROL
Title (de)
ROBOTERVERBINDUNGSSTEUERUNG
Title (fr)
COMMANDE D'ARTICULATION ROBOTIQUE
Publication
Application
Priority
- GB 201915688 A 20191029
- GB 2020052714 W 20201027
Abstract (en)
[origin: US2021121255A1] A robotic system comprising: a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising n joints, where n>1, whereby the configuration of the arm can be altered, the arm having a plurality of configurations for a given relationship between the base and the attachment for the instrument, the robot comprising a driver for each joint configured to drive the joint to move and a joint sensor for each joint for sensing a state of the joint; and a control unit configured to: obtain a desired position of the attachment for the instrument; for each of k joints where k<n, obtain a sensed joint state; compare the obtained k sensed joint states to a set of constraint criteria, the set of constraint criteria being indicative of the arm moving from a first configuration towards a second configuration, where movement of the arm is more constrained in the second configuration than in the first configuration; where the obtained k sensed joint states match the set of constraint criteria, determine a magnitude of an adjustment signal configured to slow, halt or reverse movement of the arm towards the second configuration; using the desired position of the attachment for the instrument and the obtained k sensed joint states, determine a direction of the adjustment signal; for each of the n joints, obtain a sensed joint state; using the desired position of the attachment for the instrument, the obtained n sensed joint states and the adjustment signal, determine a set of control signals for controlling the drivers; and drive the joints using the set of control signals.
IPC 8 full level
B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC (source: EP GB US)
A61B 34/30 (2016.02 - EP GB US); A61B 34/35 (2016.02 - US); A61B 34/74 (2016.02 - EP); A61B 34/76 (2016.02 - EP); A61B 90/06 (2016.02 - US); B25J 9/1643 (2013.01 - EP US); B25J 9/1651 (2013.01 - GB); G16H 20/40 (2018.01 - US); G16H 40/63 (2018.01 - US); A61B 2034/2059 (2016.02 - EP); A61B 2034/305 (2016.02 - US); A61B 2090/061 (2016.02 - US); A61B 2090/066 (2016.02 - EP US); A61B 2090/067 (2016.02 - EP US); B25J 9/1633 (2013.01 - US); B25J 9/1653 (2013.01 - US); G05B 2219/40333 (2013.01 - EP); G05B 2219/40367 (2013.01 - EP); G05B 2219/40371 (2013.01 - EP); G05B 2219/45117 (2013.01 - EP)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
US 2021121255 A1 20210429; AU 2020373346 A1 20220609; AU 2020373346 B2 20240208; BR 112022008012 A2 20220712; BR 122023021880 A2 20240227; CN 114650900 A 20220621; EP 4051466 A1 20220907; GB 201915688 D0 20191211; GB 2588630 A 20210505; GB 2588630 B 20240320; JP 2022513314 A 20220207; JP 7079899 B2 20220602; WO 2021084238 A1 20210506
DOCDB simple family (application)
US 202017080916 A 20201027; AU 2020373346 A 20201027; BR 112022008012 A 20201027; BR 122023021880 A 20201027; CN 202080075837 A 20201027; EP 20801357 A 20201027; GB 201915688 A 20191029; GB 2020052714 W 20201027; JP 2021541448 A 20201027